#include "Sub.h"


bool ModeSurface::init(bool ignore_checks)
{
    nobaro_mode = !sub.control_check_barometer();

    // initialize vertical speeds and acceleration
    // All limits must be positive
    position_control->set_max_speed_accel_U_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
    position_control->set_correction_speed_accel_U_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

    // initialise position and desired velocity
    position_control->init_U_controller();

    return true;

}

void ModeSurface::run()
{
    float target_roll, target_pitch;

    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.output_min();
        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
        attitude_control->set_throttle_out(0,true,g.throttle_filt);
        attitude_control->relax_attitude_controllers();
        position_control->init_U_controller();
        return;
    }

    // If no barometer is available, use the surface_nobaro_thrust parameter to set the throttle output
    if (nobaro_mode) {
        float thrust_output = 0.5f + g2.surface_nobaro_thrust * 0.005f; // map -100, 100 to 0, 1
        attitude_control->set_throttle_out(thrust_output, true, g.throttle_filt);
    } else {
        // Already at surface, hold depth at surface
        if (sub.ap.at_surface) {
            set_mode(Mode::Number::ALT_HOLD, ModeReason::SURFACE_COMPLETE);
        }

        // convert pilot input to lean angles
        // To-Do: convert sub.get_pilot_desired_lean_angles to return angles as floats
        sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);

        // get pilot's desired yaw rate
        float target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

        // call attitude controller
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_cd(target_roll, target_pitch, target_yaw_rate);

        // set target climb rate
        float cmb_rate_cms = constrain_float(fabsf(sub.wp_nav.get_default_speed_up_cms()), 1, position_control->get_max_speed_up_cms());

        // update altitude target and call position controller
        position_control->set_pos_target_U_from_climb_rate_cms(cmb_rate_cms);
        position_control->update_U_controller();
    }
    // pilot has control for repositioning
    motors.set_forward(channel_forward->norm_input());
    motors.set_lateral(channel_lateral->norm_input());
}
